Class SwerveModulePosition

java.lang.Object
org.wpilib.math.kinematics.SwerveModulePosition
All Implemented Interfaces:
Comparable<SwerveModulePosition>, Interpolatable<SwerveModulePosition>, ProtobufSerializable, StructSerializable, WPISerializable
public class SwerveModulePosition extends Object implements Comparable<SwerveModulePosition>, Interpolatable<SwerveModulePosition>, ProtobufSerializable, StructSerializable
Represents the state of one swerve module.

  • Field Details

    • distance

      public double distance
      Distance measured by the wheel of the module in meters.

    • angle

      public Rotation2d angle
      Angle of the module.

    • proto

      public static final SwerveModulePositionProto proto
      SwerveModulePosition protobuf for serialization.

    • struct

      public static final SwerveModulePositionStruct struct
      SwerveModulePosition struct for serialization.

  • Constructor Details

    • SwerveModulePosition

      public SwerveModulePosition()
      Constructs a SwerveModulePosition with zeros for distance and angle.

    • SwerveModulePosition

      public SwerveModulePosition(double distance, Rotation2d angle)
      Constructs a SwerveModulePosition.
      Parameters:
      distance - The distance measured by the wheel of the module in meters.
      angle - The angle of the module.

    • SwerveModulePosition

      public SwerveModulePosition(Distance distance, Rotation2d angle)
      Constructs a SwerveModulePosition.
      Parameters:
      distance - The distance measured by the wheel of the module.
      angle - The angle of the module.

  • Method Details

    • equals

      public boolean equals(Object obj)
      Overrides:
      equals in class Object

    • hashCode

      public int hashCode()
      Overrides:
      hashCode in class Object

    • compareTo

      public int compareTo(SwerveModulePosition other)
      Compares two swerve module positions. One swerve module is "greater" than the other if its distance is higher than the other.
      Specified by:
      compareTo in interface Comparable<SwerveModulePosition>
      Parameters:
      other - The other swerve module.
      Returns:
      1 if this is greater, 0 if both are equal, -1 if other is greater.

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • copy

      public SwerveModulePosition copy()
      Returns a copy of this swerve module position.
      Returns:
      A copy.

    • interpolate

      public SwerveModulePosition interpolate(SwerveModulePosition endValue, double t)
      Description copied from interface: Interpolatable
      Return the interpolated value. This object is assumed to be the starting position, or lower bound.
      Specified by:
      interpolate in interface Interpolatable<SwerveModulePosition>
      Parameters:
      endValue - The upper bound, or end.
      t - How far between the lower and upper bound we are. This should be bounded in [0, 1].
      Returns:
      The interpolated value.